Blow moulding machine with a changing robot and a gripping device and a method for its operation

ABSTRACT

An apparatus for shaping plastics material pre-forms into plastics material containers has a conveying device which conveys the plastics material pre-forms along a pre-set conveying path. The conveying device has a movable station carrier arranged at least indirectly on a stationary base carrier and on which a plurality of shaping stations are arranged. The shaping stations have blow moulding devices which form cavities inside which the plastics material preforms are shaped to form plastics material containers. The blow moulding devices are arranged on blow mould carriers. The apparatus has a changing device suitable for removing at least the blow moulding devices from the blow mould carriers and/or arranging blow moulding devices on the blow mould carriers. A changing device has a gripping device for gripping the blow moulding device, wherein this gripping device is movable in at least two different directions and is pivotable about at least three different axes.

The present invention relates to a system for transforming plasticparisons into plastic containers. Such systems have been known for along time from the prior art. In this case heated plastic parisons areusually transformed by the application of compressed air into plasticcontainers such as plastic bottles. For this purpose a plurality oftransforming stations or blow stations are usually disposed on arotatable carrier. In this case these blow stations each have blowmoulds which have a hollow space within which the plastic parisons aretransformed into the plastic containers. Thus these blow moulds have anegative of the container to be produced. If the system is to be changedover to other containers, the individual blow moulds must be replaced.In the prior art these blow moulds are removed individually from therespective transforming stations. In this case an operator takes theindividual blow mould devices out and replaces them with new blow moulddevices which are intended to form the corresponding new containers.Therefore the changing process lasts a relatively long time and anoperator is also necessary.

The object of the present invention is therefore to simplify aconversion of blow moulding machines in this way. In particular,corresponding changing procedures should also be accelerated.

These objects are attained according to the invention by the subjects ofthe independent claims. Advantageous embodiments and furtherdevelopments form the subject matter of the sub-claims.

An apparatus according to the invention for the shaping of plasticsmaterial pre-forms into plastics material containers has a conveyingdevice which conveys the plastics material pre-forms along a pre-setconveying path. In this case the conveying device has a movable stationcarrier which is arranged at least indirectly on a stationary basecarrier and on which are arranged a plurality of shaping stations, theseshaping stations having in each case blow moulding devices which formcavities in each case, inside which the plastics material pre-forms arecapable of being shaped to form the plastics material containers. Inthis case these blow moulding devices are arranged in each case on blowmould carriers. It is preferable for these blow mould carriers to be acomponent part of the individual shaping stations and thus it ispreferable for them likewise to be arranged directly on the stationcarrier.

According to the invention the apparatus has a changing device which issuitable and intended for removing at least the blow moulding devicesfrom the blow mould carrier thereof and/or for arranging blow mouldingdevices on the blow mould carriers, the changing device having agripping device for gripping the blow moulding device, wherein thisgripping device is moveable in at least two different directions.

Therefore within the scope of the invention it is proposed, that agripping device is provided, which serves in particular also for thegripping of the blow moulding device. This gripping device can move intwo different directions and in particular in directions which are notparallel or mirror-inverted relative to each other.

The gripping device is advantageously pivotable about at least threedifferent axes. The gripping device can be advantageously pivoted aboutmore than three, preferably at least about four, preferably at leastabout five, and particular preferably at least about six pivot axis.

In a further advantageous embodiment the gripping device is disposed onan arm which can swivel about a predetermined first swivel axis. Thisarm is also designated below as a second arm because of its arrangementin the changing device. In this case the gripping device itself can inturn be disposed on this arm in a pivotable or rotatable manner.

In a further advantageous embodiment the swivelling (second) arm isdisposed on a further arm which can swivel about a predetermined secondswivel axis. This further arm is also designated below as a first armbecause of its arrangement in the changing device. In this case thefirst swivel axis is advantageously not parallel to the second swivelaxis and particularly preferably is oblique in the mathematical sense.Two degrees of freedom of movement of the gripping device can already beachieved by these two axes. Advantageously the gripping device isdisposed so as to swivel on the second arm. This swivelling arrangementfacilitates a further degree of freedom of movement. Advantageously thegripping device can swivel about two axes with respect to the secondarm, for example about an axis which extends in the direction of thisarm and also about an axis perpendicular thereto.

Thus the gripping device can advantageously pivot with respect to atleast two axes which are disposed perpendicular relative to one anotheron the first arm.

Preferably at least one of these (geometric) swivel axes is stationary.This stationary swivel axis is preferably oriented vertically.Preferably at least one axis is always disposed in a spatially fixedplane, i.e. independently of a position of the changing device and/orthe gripping device. This spatially fixed plane is preferably ahorizontal plane. Preferably at least two (swivel-) axes are alwaysdisposed in a spatially fixed plane, i.e. independently of a position ofthe changing device and/or the gripping device.

Preferably at least one pair of (swivel-) axes are provided which arealways perpendicular to one another, i.e. independently of a position ofthe changing device and/or the gripping device. The first arm ispreferably movable with respect to these two swivel axes relative to an(in particular stationary) support.

Preferably at least one further pair of (swivel-) axes are providedwhich are always perpendicular to one another, i.e. independently of aposition of the changing device and/or the gripping device. The secondarm is preferably movable with respect to these two swivel axes relativeto the first arm.

Preferably at least one further pair of (swivel-) axes are providedwhich are always perpendicular to one another, i.e. independently of aposition of the changing device and/or the gripping device. The grippingdevice is preferably movable with respect to these two swivel axesrelative to the second arm.

The arrangement described here of the (geometric) swivel axes issuitable in special manner in order to facilitate a substantial freedomof movement of the gripping device.

Preferably at least two swivel axes are always disposed parallel to oneanother, i.e. independently of a position of the changing device and/orthe gripping device.

In a further advantageous embodiment the gripping device has an engagingmeans in order to grip at least one projection disposed on the blowmould device. Advantageously the gripping device has two engaging meansin order to grip two projections disposed on the blow mould device. Inthis case such a projection can be disposed on each of the two blowmould parts and the gripping device can engage behind this during thetransport in order thus to be able to hold the blow mould devicetogether in its entirety.

In a further advantageous embodiment the second arm can swivel withrespect to the first arm about at least two swivel axes. These swivelaxes are advantageously perpendicular to one another.

In a further advantageous embodiment the gripping device can beconnected positively and/or force-fit to the blow mould device. In thisway secure gripping and transporting of the blow mould devices may beenabled by means of the changing device, wherein transporting at higherspeeds is also possible.

In a further advantageous embodiment the gripping device has a passivegripping element. This is understood in particular to mean that the blowmould device is not held by an active gripping movement of the grippingelement, for instance by a clamping movement, but merely by a correctpositioning of the gripping element or the gripping device relative tothe blow mould device is to be transported. Thus in particular anelement of the gripping device can engage behind a section of the blowmould device.

In addition it is also possible that the gripping device has a magneticor magnetisable element in order to hold the blow mould device. Thus thegripping device could for instance have an electromagnet which can beactivated as soon as the gripping device is located in a predeterminedposition relative to the blow mould device. Also a magnetic hold betweenparts of the blow mould device could be initiated by the grippingdevice.

In a further advantageous embodiment the changing device has a controldevice which carries out a removal of the blow mould device from theblow mould supports and/or an arrangement of the blow mould device onthe blow mould supports both in a force-controlled and a path-controlledmanner. In this case detecting devices can be provided which detect amovement, in particular of the gripping device, and detecting devicescan also be provided for measuring forces.

Due to this control it is also possible to define one or more referencepoints on the blow station and/or the magazine which can be approached.In this way the exact geometric position of the blow mould device canalso be determined at any time during transport. Furthermore it ispreferable for the gripping device to be deflected in a plurality ofdegrees of freedom, for example in an X, Y and Z direction, inparticular in order to equalise inaccuracies of positioning. In thiscase, however, it would also be possible that one or more of thesedegrees of freedom can be electromechanically blocked out. In this way afaster working operation of the system can be achieved.

Advantageously a detecting device is provided which can detect theposition or a deflection with respect to these degrees of freedom,preferably for example by electric interrogation.

In a further advantageous embodiment the gripping device has activegripping elements which produce a positive and force-fit engagement withthe blow mould device. In this case it is possible for the grippingdevice to produce a positively engaged connection between the two sideparts of the blow mould device and furthermore preferably a force-fitconnection between the said blow mould halves and the base mould. Thissecond connection to the base mould can be achieved by means ofcorresponding engaging elements of the side parts and/or the base mould.

In a further advantageous embodiment the system, in particular thegripping device, has centring elements in order to enable exactpositioning of the gripping device on the blow mould device or on thetransforming station. These centring elements can have lead-in chamfers,for example conical lead-in chamfers, by which during the changingoperation the gripping device engages in corresponding elements on thetransforming station or contacts these corresponding elements. Thesecorresponding elements are advantageously disposed on a mould support.In this way the gripping device can be positioned relative to the blowmould device to be transported.

In a further advantageous embodiment the changing device is suitableand/or intended, optionally to change a complete blow moulding device oronly (component-) parts of this blow moulding device.

In this proposed embodiment on the one hand the possibility should becreated to change a complete blow moulding device which comprises inparticular two side parts and a base part and in particular the blowmoulding device is made out of these parts. In this case it is possible,that the changing robot grabs the entirety blow moulding device andreplaces it by a likewise entire and in particular also composed blowmoulding device. In some cases it is however desired by the clients thatdifferent side parts with an identical base part should be used. Inthese cases it could be helpful that only the side parts or elements ofthe blow moulding device are changed, but not the base part which israther retained. If respectively—as normally usual—the entire blowmoulding device is changed, the clients have to buy respectively(unnecessary or redundant) base parts which is not accepted by everyone.

In the embodiment which is proposed here, it is therefore proposed, forexample, that only the side parts are replaced by the changing robot.Hence, the device is preferably designed in such a way here that aselective change of the whole blow molding device (including its basepart) or only the two side parts is possible. Conversely, it would alsobe possible to replace only the base part and to maintain about one ortwo side parts.

It should be noted that this embodiment is also applicable without theabove-described invention, therefore, in particular without the featuresdescribed above, according to which the gripping means is movable andpivotable about at least three different swivel axes in at least twodifferent directions. The Applicant therefore reserves the right toclaim protection for an apparatus according to the preamble of claim 1and the here mentioned additional feature that the changing device issuitable and/or is determined to change either a complete blow mouldingdevice or only items of that blow moulding device.

Thus, the changing device is particularly preferably intended to removethe first blow moulding device as a whole from the device and/ orsubsequently enables separation of the individual parts of the blowmoulding device. It would be possible for example that the two sideparts are removed with a base part arranged thereon, and then the basepart is separated from the side parts.

It would also be conceivable that the changing device is designed insuch a way that it only removes items of the blow moulding device of therespective blow moulding station or reforming station. It would bepossible that only one or two side parts of the blow moulding device areremoved from the respective blowing station. For example, the side partscan be removed as a package, and a base part will remain during thechanging operation in the blow moulding station.

In a further advantageous embodiment, it is possible that within thescope of a changing operation the attachment mechanisms of the blowmoulding devices can be separated and/or activated or deactivated ofthose of a base part. So it would be possible, for example, that anattachment between one or both side parts and the base part could beactivated and deactivated in order to remove, for example, the sideparts separately.

In a further advantageous embodiment, it is possible that a holding ofthe base part in the side parts during a changing operation takes placeby means of projections and in particular by means of prisms,particularly preferably by means of complementary prisms. Thesecomplementary projections or prisms can thereby preferably also duringthe blowing process receive the blowing force acting on the base part.

In a further advantageous embodiment, the gripping device itself allowsa producing and/or releasing of an existing mechanical connectionbetween components of the blow moulding device. In particular thegripping device itself allows a producing and/or a releasing of aconsisting, in particular mechanical connection between side parts ofthe blow mould and a base part of the blow mould. Thus, the changingdevice and/ or the gripping device can comprise a first holding memberfor holding a first side part of the blow moulding device, as well as asecond holding member for holding a second part of the blow mouldingdevice and the two holding members can be moveable with respect to eachother, in particular for releasing a connection between the side partsand the base part. These two holding elements are advantageously movablewith respect to each other relative to a straight line.

Preferably, the gripping device may comprise at least one drive whichcauses a movement of at least one of these holding elements. This drivecan be either an electric, hydraulic or pneumatic drive.

In an advantageous embodiment, the gripping element is able to move thetwo side parts of the blow moulding device substantially perpendicularto a longitudinal axis of the blow moulding device. By this movement aseparation of the connection between the side parts and the base partcan be performed.

In a further advantageous embodiment, the gripping device is designed inthat it can move the two side parts of the blow mould apart and/ ortogether relative to each other.

If replacing only some elements of blow moulding devices, it is possiblethat a base part of the blow moulding device is placed on a position andis then connected or inserted again when tnew side parts are deposited.

Furthermore the present invention is directed to a method for operatinga transforming device for transforming plastic parisons into plasticcontainers. In this case in a working operation of the system theplastic parisons are transported by means of a plurality of transformingstations along a predetermined transport path and are expanded byapplication of a flowable and in particular a gaseous medium to form theplastic containers. Furthermore for expanding the plastic parisons blowmould devices are used, in the interior of which the plastic parisonsare expanded to form the plastic containers. Furthermore in a changingmode at least one of the blow mould devices of the system is removedand/or one of the blow mould devices is disposed on a blow mould supportof the system.

According to the invention, for changing the blow mould devices apreferably automatically operating changing device is used which has agripping device for gripping the blow mould device, wherein thisgripping device is movable in at least two different directions.Preferably the gripping device can swivel with respect to at least threeswivel axes, preferably with respect to at least four swivel axes.

A changing device of the type described above is preferably used.

This changing device preferably has at least one changing arm which canswivel and is disposed at least indirectly on the base support. It istherefore proposed to dispose a changing device, in particular in theform of a changing robot, directly in the region of the system fortransforming. Therefore this system advantageously has a base support,such as for instance a machine frame, on which the station support isalso disposed. The changing robot is also in turn disposed on this basesupport, so that it can be integrated as a whole into the machine.

A substantially indirect arrangement is understood to mean that thechanging device can be disposed directly on the base support, but it isalso conceivable that the changing device is disposed on a furtherelement, for instance an intermediate support, which in turn is disposedon the base support.

However, it would also be conceivable to arrange the changings outsidethe carrier. For example, it would be possible to arrange the changingdevice outside the blow moulding device.

Thus an integration of the changing device or of the robot into themachine is proposed. The blow mould device is advantageously ofmulti-part construction and has at least two side parts and a base part.In operation these three parts form the said hollow space for expandingthe plastic parisons. Advantageously at least two parts and particularlypreferably all three parts of this blow mould device can be locked withone another, so that the blow mould in its entirety can be removed fromthe machine or from the blow mould support. Thus the blow mould supportis suitable to receive different blow mould devices. In this case itwould be possible that the blow mould device itself is also disposed bymeans of support shells on the blow mould support.

Advantageously the blow mould supports can be moved and in particularcan swivel with respect to one another. In this case in a workingoperation the blow mould supports can be swivelled apart by apredetermined swivel angle, in order to introduce plastic parisonsand/or in order to remove finished containers. In this case largeraperture angles are preferably possible for the changing mode.

In a further advantageous embodiment the transforming stations each havestretching rods which can be introduced into the plastic parisons inoperation in order to expand them in the longitudinal direction.Advantageously the individual transforming devices also have applicationdevices which in particular have blow moulding nozzle which in operationsupply the plastic parisons with a free-flowing and in particular agaseous medium. In this case it would be possible that also other partsof the transforming stations are replaced, such as in particular thesaid application device or blow moulding dies and/or the stretchingrods.

Advantageously the station support is a rotatable support, such as inparticular a blow wheel. The individual transforming stations arepreferably disposed on an external circumference of this rotatablesupport. Thus in the working operation the transforming stations aremoved along a circular path.

Advantageously the system has a driving device for moving the stationsupport and in this case the driving device preferably enables both acontinuous movement of the station support and also a cyclical movementof the station support, which thus has rest phases in each case betweenmovements. Advantageously this type of movement is adjustable as afunction of a mode of operation. In a working operation the stationsupport is preferably moved continuously and preferably cyclically in achanging mode. In this case a movement of this station support can alsobe co-ordinated with movements of the changing devices. The stationsupport is advantageously a blow wheel.

The procedure according to the invention makes possible a fullyautomatic changing operation, in particular by means of an industrialrobot. Advantageously, in particular in a changing mode, the blow moulddevice can be locked fully automatically, or the individual elements ofthe blow mould devices can be fastened to one another. Thus the changingdevice is preferably suitable for gripping or removing the complete blowmould device, that is to say the at least three components thereoftogether. Advantageously after the gripping of the blow mould device acorresponding mould lock can be deactivated. In a further stage thechanging device can place the mould unit in a storage device, such as amagazine. Consequently the changing device can insert a new mould unitor a new blow mould device into a blow mould support and (preferably)lock the new blow mould device with the blow mould support.

Then the station support can be moved along by a position in order toreplace a further blow mould device. Thus in particular a fullyautomatic operation can be carried out in which no user is necessary.

In a further advantageous embodiment the device has a housing which atleast surrounds the station support in the circumferential directionthereof. In this case in principle the complete blow mould device and/orthe changing device can be disposed within a housing, wherein thishousing can also have a protective function.

The changing device is preferably integrated directly into the machineand can for example be attached to a base mount. In a furtheradvantageous embodiment the changing device as a whole can be moved in aspace surrounded by the housing. In this situation it is possible in anoperational state for the changing device to be completely integratedinto the machine and so for example is not even visible from theexterior and in particular does not disrupt the operation of thetransforming device. In this case it is possible for a casing of thehousing also serves as a protective device for the changing device orthe robot. Thus in the working operation the said changing device isdisposed inside the housing.

In a further advantageous embodiment the changing device has a firstcontrol device for controlling a removal movement of the blow moulddevices and/or a feeding or arranging movement for arrangement of theblow mould devices on the blow mould supports and the system preferablyalso has a second control device for controlling a blow mouldingoperation, wherein the first control device and the second controldevice co-operate at least partially and/or at least intermittently. Inparticular these two control devices co-operate during a blow mouldchanging operation. Thus during a changing operation the same movementswhich are also necessary in the working operation can also be used forthe changing operation, such as for example the transport movement ofthe transforming stations, the opening and closing of the blow mouldsupport and the like.

In the changing operation the blow mould supports can likewise be openedin order to be able to remove the blow mould device. Thus for examplethe second control device can effect opening of the blow mould supportand as a function of this the first control device can effect a removalof the blow mould devices. Also in this way a fully automatic change ofthe blow moulds is possible. Thus the controller of the changing devicepreferably interacts with the control device of the transforming machineor blow moulding machine.

In a further preferred embodiment the changing device has a firstcontrol device for controlling a removal movement of the blow moulddevices and/or the arranging movement for arrangement of the blow moulddevice on the blow mould supports and the system also has a secondcontrol device for controlling a blow moulding operation, wherein onecontrol device is integrated into the other control device.

In particular the control of the changing device is integrated into acontrol of the system or blow moulding machine. Thus it would bepossible that the changing device is designed as a module which can alsobe integrated into the blow moulding machine by control engineering, forexample after fitting together or connecting by control engineering.Thus it would also be possible for a changing device to be retrofittedto already existing systems. These control devices can be configured insuch a way that a protection region is extended during a changingoperation. In a working operation the changing device can be located ina rest position in which it does not pose any danger, and in which italso does not hinder operation of the machine.

In the changing operation the changing device is also active, so thatthose regions in respect of which entry could be dangerous for the userin some circumstances dangerous, must be extended. Thus it isconceivable that protection regions modified in the context of thechanging operation are also shut off for the user or at least madediscernible.

In this case it would be possible in the context of the changingoperation for additional protective elements to be actuated, so that thesafety of the operator can be increased.

In a further advantageous embodiment the changing device has at leastone gripping device for gripping the blow mould devices. This may be agripping device which grips the blow mould device in its entirety. Inthis case it would be possible for media required on the gripping deviceand/or electrical signals to be guided through regions of the changingdevices, such as for example axles or swivel arms. It would also bepossible for such connections to be guided via rotary feedthroughs, forexample on the axes of the changing devices.

In a further advantageous embodiment the changing device has at leastone detecting device for detecting at least one force acting on anelement of the changing device. In particular external forces, which forexample act on a changing arm which removes the blow mould devices, canact in this way. Thus in particular the above-mentioned control devicecan be designed in such a way that it can react to external forces, forexample during defined operations such as setting down or picking up ablow mould device, it can deflect the changing device from a desiredposition (Softfloat). This generally involves a detecting device whichcan react to physical actions or can detect such actions, such as forinstance a torque, forces, impulses or the like. In this way a fastreaction of the changing device is possible.

However, the changing device preferably moves within a limited workingrange. This means that in particular the removal and delivery movementfor the blow mould devices takes place in a limited working range. Inreaction to the above-mentioned external forces a position can deviatefrom this working range. Otherwise, however, this defined working rangeis preferably maintained, in particular during a mould change.

In this case it is advantageously possible that the working range of thechanging device is limited from the point of view of safety and inparticular mechanically. Such a delimitation would be possible bydifferent measures, for instance by light barriers, which detect anincorrect or excessive movement of the changing device and consequentlyeffect either a return or an emergency stop of the changing device. Inaddition, however, a delimitation of the working range by mechanicalelements, such as for example stops, would also be possible.

In addition it is also preferably possible for a working range of thechanging device to be checked from the point of view of safety andelectrically or also from the control point of view. In this case it isin particular possible that this working range is (further) restricted,deviating from a maximum possible working range.

In a further advantageous embodiment the changing device has a serialand/or parallel kinematics with at least three movement axes. In afurther advantageous embodiment the changing device has a serial and/orparallel kinematics with at least three movement axes. In this way avery high freedom of movement of the changing device or of a grippingelement of the changing device is made possible. The blow mould devicescan therefore also be removed from their blow mould supports ordelivered thereto in a different manner depending upon the actualsituation.

In this case it is possible for the system to have an operating devicein order to control the changing device or the gripping arm. This devicemay for example be a manual operating device. However it would also bepossible for the changing device to be controlled by means of devicessuch as for example smartphones.

In this case control by such an operating device is advantageous inparticular in the setup mode, that is to say when delivering new blowmould devices.

Furthermore the present invention is directed to a method for operatinga transforming device for transforming plastic parisons into plasticcontainers. In this case in a working operation of the system theplastic parisons are transported by means of a plurality of transformingstations along a predetermined transport path and are expanded byapplication of a flowable and in particular a gaseous medium to form theplastic containers. Furthermore for expanding the plastic parisons blowmould devices are used, in the interior of which the plastic parisonsare expanded to form the plastic containers. In this case in a changingmode at least one of the blow mould devices of the system is removedand/or one of the blow mould devices is disposed on a blow mould supportof the system.

According to the invention a changing device disposed on the system isused for changing the blow mould devices. Therefore it is also proposedin terms of the method that such changes of blow mould are carried outby means of a changing robot disposed on the system or integratedtherein.

In a further preferred method, in the working operation the transformingstations are transported along a circumferential transport path, and inthe changing operation, in a predetermined defined position of therespective transforming station from which the blow mould device is tobe removed, the blow mould devices are removed with respect to thecircumferential transport path. It is therefore proposed that in theworking operation the transforming stations revolve, as is known in theprior art. For the individual changing operation, however, it isproposed that this takes place on at least one precisely defined stationwhich in particular is also located in a sphere of action of thechanging device. In other words the removal position on a blow wheel isadvantageously always identical. In this case it is possible, during theproduction or the working operation, for the changing device to beoriented in such a way that it can be disposed inside a blow mouldingmachine protection region or housing.

With regard to the control device it is conceivable that by means of twoindependent co-ordinate systems this control device controls thesequence of movements of the changing device or of the robot. In thiscase a co-ordinate system is preferably placed at the removal or entryposition of the blow mould device to the transforming station or theblow mould supports. A further co-ordinate system can be located in theregion of a receiving device or a magazine in which the blow moulddevices are set down.

However, it is possible for the positions of the receiving points of theblow mould devices on the receiving device or the magazine relative tothe co-ordinate system thereof to remain unchanged independently of thereceiving device and/or for the positions of the receiving points to belocated equidistantly with respect to this co-ordinate system. In thiscase it is possible to provide a display device, such as in particularan input screen of the changing device. By means of this device specificvalues of the co-ordinate systems, in particular the X, Y and Z valuesof the co-ordinate systems, can be changed. In addition a further inputdevice, such as an input screen, which preferably interacts with aninput device of the blow moulding machine, can preferably be disposed onthe changing device.

Several possibilities are conceivable for removal and delivery of theblow mould devices.

Thus it would be conceivable that at the outset all blow mould devicesare removed from the individual mould supports, that is to say theindividual transforming stations, and fed into an empty magazine orstorage system. Then this storage system with the old moulds is replacedby a full storage system with new blow mould devices to be inserted.Then all new moulds are inserted into the blow mould supports. Thechange of the storage systems can take place for example by means oflift trucks or by means of turntables, for instance in the manner of apallet change in the case of machine tools. In this case for a completechange the blow mould support will advantageously carry out two completerevolutions.

In a further possible changing operation a magazine contains an emptyspace. In this case first of all a new mould from a mould location isplaced in this empty space. Then an old mould from the mould support isplaced into the said mould location. In a further step a new mould istransferred from the magazine into the mould support. Then a second newmould is placed in the empty space and so on, until the entire switch iscompleted. The interim storage in an empty space ensures that a specificblow mould device is again transferred at a specific storage location ora specific blow mould support. In this case advantageously the saidempty space is located spatially between the blow mould support and thestorage system and preferably on or in the storage system itself.

The removal of the blow mould device and/or the delivery of new blowmould devices advantageously takes place in a cycle control mode. Thismeans that the individual change of the blow mould device takes placewhile the transforming station is static. In this case the changingdevice may set down a specific blow mould device in a magazine, andduring this the transforming device itself can move further by onestation, that is to say the blow wheel rotates by one position. A radialdirection relative to the transport path is advantageously used forinsertion and removal of the blow mould device. As mentioned above, itis also possible to park or to set down the blow mould device in anintermediate station. For this purpose a vertical movement canpreferably be used.

In terms of the method it is possible for the gripping device of thechanging device to grip the blow mould device in positive engagement inorder to transport it or to remove it from the system. The grippingdevice of the changing device advantageously engages form-fit in theblow mould device.

In a further advantageous embodiment the removal and/or the setting downof the blow mould device takes place under path and/or force control andpreferably under both path and force control.

In the context of control it is possible for the changing device toapproach at least one defined reference point on the transformingstation or the receptacle or blow mould supports and/or preferably alsoat least one defined reference point on a storage location, such as forexample a magazine. In this way the said points can be transferred intothe controller of the changing device are being, so that the exactpositions of the mould holder or of the blow mould support and also ofthe magazine or the storage device can be ascertained. In this case itis preferably possible that the said reference points after each changeof a magazine device are approached or are also approached even in theevent of malfunctions, such as for example power failures, in order thusto be transferred into the controller.

In this case it is possible for the reference points thus ascertained tobe stored and/or compared with reference points which are stored in thecontroller or a storage device of the controller. If a discrepancyexceeding a predetermined value occurs between the ascertained referencepoint and the already stored reference points, a fault message or anotification can be generated.

In a further advantageous embodiment the changing device has an imagerecording device, such as for instance a camera or the like. With theaid of this camera device it is possible to detect the precise pickupand set-down points for the blow mould devices.

In this connection it is conceivable that the blow mould devices and/orthe blow mould support and/or the magazine device each contain anidentification in order to ensure co-ordination between the blow moulddevices and the respective blow station. In this way it can be ensuredthat a specific blow mould device which has been removed from a specifictransforming station is also associated again with the same transformingstation during a further change. Thus it would be possible that anindividual identifier is associated with each holding magazine.

These identifications may for example be bar codes, QR codes, RFID tagsand the like. Advantageously it is possible for this identification tobe retrieved contactlessly. Advantageously the identification or acharacteristic value for this identification is taken up into thecontrol device of the machine.

In a further method it is also conceivable that the respectiveidentifications are read in again after each change of the magazinedevice or also in the event of failures of the machine. In this way asecure co-ordination is ensured even under exceptional conditions.

A receiving device or a magazine for the blow mould devices is describedbelow. For a mould change this receiving device can be disposed at asuitable position, for instance beside the transforming equipment. Inthis case the magazine or receiving device can have insertion regions bymeans of which the blow mould devices can be placed into the magazine orthe receiving device. These insertion regions may be of conicalconstruction in order to facilitate secure insertion of the blow moulddevice. Advantageously in this case the blow mould device or the mouldset is introduced substantially vertically into the magazine.Particularly preferably the blow mould device can be placed intocylindrical openings in the magazine or the receiving device. Themagazine itself can be disposed—in particular by positive engagement—inthis receiving device.

In a preferred embodiment this magazine device may have elasticelements, in particular in the region of the cylindrical openings, forintroduction of the blow mould devices in order to be able to compensatefor tolerances.

In a further advantageous embodiment it would also be possible that, inthe regions in which the blow mould device comes into contact with thecylindrical openings of the magazine device, the magazine or thereceiving device and/or the blow mould device is equipped with insertionregions and in particular with tapered insertion regions.

In a further advantageous embodiment, as mentioned above, the magazineor receiving device has a plurality of openings to receive theindividual blow mould devices. These openings are advantageously ofcylindrical construction. Particularly preferably these openings in themagazine devices are made out of plastic at least in some areas.

In this case it is possible for these openings to be disposed in aplurality of rows and for example for two adjacent rows to be offsetwith respect to one another. In this way the packing density of the blowmould devices can be increased.

In a further advantageous embodiment the position of the blow moulddevice inside the receiving device is lower than the position of theblow mould device in the blow mould support. In this way the latter islowered during the dismantling of the blow mould device.

In a further advantageous embodiment the magazine has a polygonal andpreferably rectangular external contour, wherein the long side of thisexternal contour is preferably disposed substantially perpendicular toan imaginary radial connecting line between a centre point of the pitchcircle and the blow mould supports. In this way the magazine device canbe very easily reached by the changing device or an arm of the changingdevice.

The configuration of the blow mould device is described below. Thus itis conceivable that, for unlocking the blow mould devices on a mouldsupport or also a mould support shell or also during unlocking of a basepart of the blow mould device, the arrangement, that is to say inparticular the side part and the base part, are mechanically connectedto one another. However, a magnetic connection might also be considered.

Advantageously such a fixing mechanism which connects the individualblow mould parts to one another, is constructed so that this onlyexhibits or carries out a force in a tensile direction and has aspecific resilience radially with respect thereto, in order tocompensate for tolerances. A projection, a cam or the like, which can beengaged by an element of the gripping device or into which the grippingdevice can move, can advantageously be provided on the parts of the blowmould device, such as for instance the blow mould halves.

In a further advantageous embodiment the projections or cams joined to agripping device are advantageously disposed radially within the pitchcircle described by a centre point of a container. In this way it can beensured that also in the working operation these cams cannot come intocontact with brackets, for example an intake and discharge starwheel.

In a further advantageous embodiment it would also be possible thatbetween the two mould shells and a base mould of the blow mould devicethere is a positively engaged connection which prevents a rotation ofthe base mould relative to the side parts or mould shells. In additionit would also be possible that before the changing operation the basemould is mechanically connected to the mould halves.

In order to simplify a loading and unloading operation it would bepossible that during the loading and unloading (of the plasticcontainers) an axis of rotation of the blow mould device extendssubstantially parallel to the axis of the mould support or also to anaxis of rotation of the blow wheel.

In a further advantageous embodiment it would also be possible that aprotection region of the blow moulding machine is automaticallyseparated during production from a storage region of the blow moulds orblow mould devices. In this case such a separation can be carried out—inparticular automatically—at the start of a mould change operation.

Thus the protection regions can be modified so that during theproduction of the system or during the working operation a machineoperator can enter a region of the mould store. Thus it would beconceivable that for example an electromechanical unit ensures theposition of a transforming station relative to the changing device ineach case after the positioning of the blow wheel, preferably bypositive and/or form-fit engagement.

Furthermore it would also be conceivable that the robot places the blowmould device or the mould set from an intermediate position into themagazine, whereas the blow wheel moves onwards by a cycle or brings asubsequent transforming station into a changing position. In additionthe sequence of a blow mould device change could generally includeapproaching an intermediate station on which the blow mould device istemporarily parked or set down. In this case needs the holding devicedoes not have to be configured as a double gripper and nevertheless aco-ordination of the moulds in a storage device such as a magazine ispossible in a manner adapted to the station.

As already mentioned above, it may be advantageous if the openingmovements of the blow mould support and of the base in a changingposition for the blow mould device differ from those in operation. Thismay be advantageous for example in the case of a mould support controlwhich is not coupled. It would also be possible that a blow mouldsupport of the neighbouring station which is respectively leading ortrailing relative to the one in the blow mould device changing positionis likewise swivelled away in some regions in order to facilitate agreater opening angle for the transforming station located in thechanging position.

Furthermore it would be possible that a fixing mechanism for the mouldshells and the base moulds has progressive characteristic curve during aclamping sequence. At the start of such a clamping sequence a largestroke with a low force can take place in order to be able to bridge thegreatest possible distances during drawing in. Towards the end of theclamping sequence a high force is preferably implemented with only asmall stroke.

In a further advantageous method the changing position of the blowstation and/or the magazine and/or any intermediate position in whichthe blow mould device is temporarily positioned is located in apredetermined circumferential range of an effective radius of thechanging device, preferably in a range of 270° of the effective radius,preferably in a range of 220° of the effective radius and particularlypreferably in a range of 180° of the effective radius.

In a further advantageous method, when the blow mould device is removedfrom the stations and/or arranged on the blow mould support the changingdevice or the changing robot carries out a radial movement relative tothe pitch circle of the system. This may be a purely radial movement,but it would also be conceivable for it to be a movement with a radialcomponent.

In a further advantageous method, when the blow mould device is removedfrom the stations and/or arranged on the blow mould support the changingdevice or the changing robot carries out a substantially verticalmovement. “Substantially” is understood to mean that the direction ofmovement deviates from the exact vertical direction by no more than 20°,preferably by no more than 10° and particularly preferably by no morethan 5°.

In a further preferred method, components of a blow moulding device areseparated from each other during a changing operation of this at leastone blow moulding device. Under a separation during the changingprocess, reference is here made to the entire change process, i.e. theentire period between the removal of a blow moulding device and theassembly or the installation of a further blow moulding device into ablow moulding station. In this embodiment, preferably not the entireblow moulding device is removed, but merely components thereof arechanged, such as the side parts. Thus, it is possible that first anentire composited blow moulding device is removed, then the side partsof the blow moulding device are separated from the base part of the blowmoulding device, followed by new side parts being used and these are inturn connected to the original base part, and then the blow mouldingdevice thus reassembled is mounted at the blow moulding station.

It is again noted that this variant, namely the separation of componentsof the blow moulding device during the changing process, can be usedregardless of the method described above, i.e. regardless of thepivoting of the gripper arm. The applicant reserves the right to claimprotection for a method according to the preamble of the independentmethod claim, which is characterized in the separation of components ofthe blow moulding device during the changing process.

Preferably At least one component of the blow moulding device is notchanged in a corresponding changing operation. In particular, in atleast one changing operation at least one side part is changed, but nota base part of the blow moulding device.

In further method, it is also conceivable that the blow moulding stationis controlled in such a way during a change process that a connection ofthe side parts with the base part could at least temporarily be activelyseparated. In this embodiment it would be possible that the base part isfirst of all removed separately from the side parts in particular by alinear movement (and preferably by a movement in a longitudinaldirection of containers to be expanded), in order to then receive onlythe side parts. It would be possible, for example, that the blowmoulding device still being located on the transforming station isopened (as this is also possible in the working mode), then the basepart being driven away, then the blow moulding device being closed againand in this closed state (but without the base part) being dismantled.

In another advantageous method, it is also possible that the blowmoulding device is controlled in the change operation such that theconnection of the side parts with the base part at least at times can beactively separated. It is possible that directly in the blow mouldingdevice active connection elements are provided, to include only themouldings. Furthermore, it would be possible for the entire changingoperation, to address or enable these active coupling elements.

In a further preferred method, it is possible that a base part of theblow moulding device in particular for a changing operation is moved andin particular rotated and thereby the connection of the side parts withthe base part can be actively separated at least at times. For thispurpose, the centering of the base parts can have a gearing (only) forreceiving the side parts.

In a further advantageous method, it is conceivable that a base part isparticularly removed with a gripping device before changing the sideparts and is “parked” so that in a subsequent change of the side partsthese do not have to be changed.

Further advantages and embodiments are apparent from the appendeddrawings. In the drawings:

FIG. 1 shows a schematic representation of a system according to theinvention;

FIG. 2 shows a representation of the system with illustrated changingdevice;

FIG. 3 shows a plan view of the system shown in FIG. 2;

FIG. 4 shows a further representation of the system shown in FIG. 2;

FIG. 5 shows a further representation of the system shown in FIG. 2 in afurther operating position;

FIG. 6 shows a representation of a transforming station;

FIG. 7 shows a representation of a mould shell for a blow mould device;

FIG. 8 shows a representation of a changing device;

FIG. 9 shows a representation of a gripping device for gripping a blowmould device;

FIG. 10 shows a representation of a changing device with a blow moulddevice;

FIG. 11 shows a representation for illustration of possible positions ofthe changing device;

FIG. 12 shows a representation of a magazine with a blow mould device;

FIG. 13 a-13 h representation showing a partial change of a blowmoulding device

FIG. 14 a, b two representations of a gripping device; and

FIG. 15 a, b two further representations of a gripping device

FIG. 1 shows a schematic representation of a system 1 for transformingplastic parisons into plastic containers. In this case the plasticparisons 10 are delivered to the individiaul transforming stations 8 andexpanded to form plastic containers 20. After this expansion the plasticcontainers are removed again from the system. For this purpose adelivery starwheel can be provided which delivers the plastic parisonsto the system 1 and also onto a discharge device, in particular likewisea transport starwheel, which discharges the finished containers from thesystem. The system 1 has a station support 12 on which a plurality oftransforming stations 8 are disposed. This station support may be forexample, as shown in FIG. 1, a blow wheel which is rotatable withrespect to an axis of rotation D (which here extends perpendicular tothe drawing plane and thus vertically). Each individual transformingstation has a respective blow mould device 14. This blow mould device 14is composed of two side parts and a base part. These blow mould devicescan be replaced according to the invention. In this case the blow moulddevices 14 are disposed on blow mould supports 16 arranged and can beremoved therefrom or disposed thereon.

The reference sign 40 identifies a changing device which serves toremove the blow mould devices from their blow mould supports or todispose the blow mould devices on the blow mould supports. The referencesign 6 identifies a base support on which the station support 12 isrotatably mounted. The changing device 40 is also disposed on oradjacent to the base support 6. Thus the changing device 40 can beintegrated in the system. The reference sign 18 identifies a housing,which at least partially surrounds the station support 12, but whichpreferably, as shown below, can also enclose or surround the changeoverdevice 40.

The reference sign W designates a changing position. As mentioned above,the blow mould devices are preferably replaced at a specific changingposition. This means that the transforming stations can be movedsuccessively into this changing position W by a rotation of the support12 and then at this changing position the old blow mould devices can beremoved and preferably also new blow mould devices can be delivered. Thereference sign R designates a radial direction. In this radial directionthe changing device or a gripping device of the changing device ispreferably delivered to the transforming stations or the blow moulddevices in order to change them.

FIG. 2 shows a perspective representation of a system 1, which merelyshows a transforming device or transforming station 8. The stationsupport on which this is disposed is likewise not illustrated here.Furthermore the base support 6 can be seen, on which the changing device40 is disposed. This changing device 40 has a first swivelling arm 56 aswell as a second swivelling arm 54. By means of an articulation anddriving connection these two arms can be connected to one another so asto swivel.

The reference sign 52 designates a gripping device which serves in orderto grip and to transport the blow mould devices. This gripping device isin turn disposed so as to swivel on the second arm 54 and is preferablyalso rotatable. Thus overall the gripping device can swivel about atleast three, preferably about at least four axes in space. In additionit would also be possible, as illustrated by the rectangle shown by abroken line, that a plurality of changing devices are provided, whereinthese are in particular disposed in each case at least indirectly on thebase support 6. In this way the individual blow mould devices could bereplaced more quickly in a changing operation.

The reference sign 46 identifies schematically a detecting device whichdetects forces acting on the changing device 40 or the gripping device52 in order thus to switch off in an emergency. The systemadvantageously has a plurality of such detecting devices, whereinpreferably each one is associated with an individual driving devicewhich effects a movement of the changing device 40 or of the grippingdevice 52. These detecting devices may for example be force measuringdevices which actually determine forces, torques and the like. However,it would also be possible that the forces are determined from parametersof the respective drive, for instance from flows or the like.

The reference sign B identifies a user who operates the system.Advantageously during operation of the changing device the user cannotmove in regions which conversely can be reached by the changing device40.

The reference sign 22 identifies a control device for controlling thechanging device. The reference sign 42 identifies a control device forcontrolling the transforming device. In this case these two controldevices can interact with one another, in particular for a changingoperation for replacement of the blow mould devices. In this case it ispossible in a normal working operation of the system for the changingdevice 40 to move into a rest position in which the changing deviceoccupies the least possible space.

FIG. 3 shows a plan view of the system shown in FIG. 2. It will berecognised here that the changing device 40 is likewise integrated intothe housing 18. In the state shown in FIG. 3 the arm 56 is justswivelled out, so that the gripping device 52 can just grip a blow moulddevice.

In addition a magazine device 70 is also illustrated which has aplurality of receiving points 72 for receiving the blow mould devices.In this case these blow mould devices can each be moved into thereceiving points or holes 72.

FIG. 4 shows a further representation of the system according to theinvention. It will be seen that here a wall 32 is provided whichseparates the user B from the changing device 40, so that the usercannot be injured. In addition further movable wall parts 34 can also beprovided, so that on the one hand the machine is more easily accessiblefor maintenance purposes, or on the other hand further changing devicescan also be provided, as also illustrated in FIG. 1.

The representation shown in FIG. 5 is similar to the representationshown in FIG. 3, but here the changing device 40 is in a differentoperating position. This may for example be a working operation in whichthe system transforms plastic parisons to form plastic containers. Itwill be recognised that a recess 18a which also serves to completelyreceive the changing device 40 can be disposed in the housing 18. In thestate shown in FIG. 5 the individual arms of the changing device 40 canbe hinged inwards so that the changing device 40 occupies only a smallspace.

FIG. 6 shows a representation of a transforming station 8. The blowmould support 16 can be seen here which can have two blow mould supportparts 16 a, 16 b which can swivelled apart in order to open and to closethe blow mould device 14. Also for the changing operation the two blowmould support parts 16 a, 16 b can be swivelled apart, in order to beable to remove the blow mould device 14.

The reference sign 82 designates as a whole a locking device which inthe working operation locks the two blow mould support parts 16 a and 16b to one another, so that even with greater pressures they do not swivelapart. The reference numeral 66 relates to a projection which in eachcase is disposed on the two side parts of the blow mould device 14. Thisprojection is designed to be so stable that the entire blow mould device14 can be supported on this projection. In this case the gripping deviceor a component of the gripping device can engage behind this projection66, so that the gripping device 52 can support the blow mould device bymeans of this projection. By means of holding of the respective sideparts of the blow mould device on the projections 66 the blow moulddevice in its entirety can also be held together.

FIG. 7 designates a blow mould support shell. This blow mould supportshell 15 can be disposed on the blow mould support 16 and in turn canitself receive the blow mould device or parts of the blow mould device.In this case delivery and discharge elements 15 a can be provided, inorder to deliver media, such as for example temperature control media,to the blow mould shell 15.

FIG. 8 shows a further representation of the changing device 40. Thisshows the first arm 56 which can be swivelled with respect to a firstaxis A1. In addition, however, this arm 56 is also rotatable withrespect to a second axis A2. A second arm 54 is disposed on this firstarm 56 and in this case the arm 54 can swivel with respect to an axis A3relative to the first arm 56. Here the two axes A1 and A3 are parallelto one another. However, these axes can also be disposed obliquely orskew relative to one another. In addition, however, the second arm 54 isalso rotatable with respect to a fourth axis A4.

In order to achieve this respective swivelling and rotary movement withrespect to the individual axes and also with respect to the further axesto be described, in each case driving devices, such as in particular,but not exclusively, electric motor-powered drive units can be provided.In addition, however, it would also be conceivable to use pneumaticand/or hydraulic drive units. A gripping device 52 which serves forgripping the blow mould device is provided on the second arm 54. In thiscase this gripping element can swivel with respect to an axis A5relative to the arm 54. This axis AS may be perpendicular to the axis A3and/or also perpendicular to the axis A4. In addition the grippingdevice is disposed on the arm 54 via a support 58. The gripping deviceitself can in turn be rotatable relative to this support 58 with respectto an axis A6.

By means of this plurality of movements the blow mould devices 14 can beremoved from the individual transforming stations and placed onto asupport 74 which is shown here as a Europallet. However it would also bepossible to introduce the blow mould devices 14 directly into openingsprovided in a magazine.

In this case the distance between the magazine device or the pallet 74and the changing device 40 can be between 1 metre and 2 metres. Also acorresponding radius of action of the changing device may be in theregion of 1.5 metre.

FIG. 9 shows a detail of the changing device 40 or the gripping device52 thereof. This gripping device may have a guide element 62 which canbe guided over a corresponding surface of the blow mould device. Inaddition projections 64 a, 64 b can also be provided which serve forcentring the changing device 40 or precisely the gripping devicerelative to the transforming station. The reference sign 63 relates to arecess which is disposed in the guide element 62 and can engage behindthe projections for changing the blow mould device. Thus the guideelement 62 also serves for supporting the blow mould device 14.

FIG. 10 shows a view of the changing device with a blow mould device 14disposed thereon. It will be seen that the gripping arm 52 here engagesin two projections 66 which are disposed on the blow mould device 14 andpresses these together, so that in this way the blow mould device isheld together. Thus the projections 66 also shown in FIG. 9 and FIG. 6which are disposed on the blow mould device 14 serve to hold it togetherduring transport. Thus advantageously above the blow mould device 14 thegripping device 52 engages in elements thereof in order to hold it. Thistype of engagement in the blow mould device is suitable in a specialmanner since the blow mould device, as is also shown in FIG. 6, projectsbeyond its support and in this way can also be gripped in a closed stateof the blow mould support 16. Thus it is possible for the changingdevice or the robot initially to grip the blow mould device 14 by meansof the projections 66 thereof and only then the blow mould support isopened. In this way it can be ensured that the blow mould device is heldsecurely at any time.

FIG. 11 shows a further representation of the present invention. Here aplurality of changing devices 40 a-40 d are provided, by which in eachcase elements of the system can be changed. In this case it would bepossible for example for two of the changing devices (40 a, 40 b) to beprovided, in order to change blow mould devices 14, but also for furtherchanging devices to be provided which replace other elements such as forexample heating mandrels which are located in a kiln 50 for heating theplastic parisons (the changing device 40 d). In addition, for exampleholding elements, such as transfer tongs, which transport the plasticparisons after heating to the transforming device 1, can be changed bymeans of the changing device 40 c.

FIG. 12 shows a receiving device such as a magazine to receive the blowmould devices 14. This may contain a support plate 75 which has aplurality of openings 77. By means of supports 78 this plate 75 can bearranged on a base support 79, wherein this base support 79 in turn hasopenings 79 a or holes to receive the blow mould devices. Advantageouslythis magazine has the same dimensions as a so-called Europallet and thuspreferably dimensions in a range of 1200×800 mm. In this case theindividual openings 79 a are, as shown in FIG. 12, disposed in rows andand offset from one another, so that the greatest possible number ofblow mould devices can be introduced into the pallet.

FIGS. 13 a-13 h illustrate a change process for a blow moulding device,when not the entire blow moulding device has to be changed but only theside parts. In the illustration in FIG. 13A is shown an entire blowmoulding device 14 is located on a gripping device 52. Here, thegripping device 52 removes the entire blow moulding device, i.e. boththe two side parts 14 a and 14 b as well as the base part 14 c, which ismechanically coupled to the side parts 14 a and 14 b from the blowmoulding machine. In a further step, the entire blow moulding device 14is turned off or placed on a (not-shown) storage space for the base part14 c. In a further process step, the gripper device 52 opens, as shownin FIG. 13 d. For this purpose, two holding elements, explained in moredetail below, of the gripping device 52 can be pushed apart, so as tomove apart also the two side parts 14 a and 14 b.

In the situation shown in FIG. 13 c, the gripping device 52 movesupwardly being equipped only with the side parts 14 a and 14 b. The basepart 14 c remains in its storage place. In the situation shown in FIG.13 d, the two side parts 14 a and 14 b are placed in a correspondingstorage (not shown). Furthermore new side parts 14 a and 14 b areremoved from the storage (not shown), as shown in FIG. 13 e. In thesituation shown in FIG. 13 f, the two side parts are moved apart againand are placed above the old base part 14 c—with correspondingly openedgripping device. This situation is also shown in FIG. 13 g. In thissituation, the two side parts 14 a and 14 b are moved downwardly andwith the now following closing of the gripping device 52, the old basepart is received by the two blow moulding side parts 14 a and 14 b.

Finally, the new side parts 14 a and 14 b as well as the original basepart 14 c can be fastened to a mold support (not shown) again, asillustrated in FIG. 13 h.

FIGS. 14 a and 14 b show an illustration of a gripping device, which issuitable and intended also to move apart the two side pieces, so as torelease the base part. FIG. 14 a is a top view of the gripping deviceand FIG. 14 b is a view from below. It can be seen that the grippingdevice 52 again comprises two guide elements 62, in which the recesses63 are disposed (to receive the projections 66 arranged on the sideparts). However, whereas this guiding element 62 was integrally formedin the embodiment shown above, now, two such guide elements 62 areprovided which can be moved apart. For this purpose, these guideelements 62 (and hence the recesses 63), are arranged on a support 102via a carriage 104 respectively and can be moved with respect to this.The reference number 120 refers to a first drive device, in order tomove the left guiding element shown in FIG. 14A, and reference number130 refers to a drive device, in order to move the guiding element 62shown on the right in FIG. 14 a. Reference numbers 122, 124, 132 and 134mark communication links for connecting a hydraulic or pneumatic medium.In FIG. 14 b, the retaining elements 142 are shown to fasten thegripping means 52 on an arm. Besides, other terminals 152, 154 areprovided for a hydraulic or pneumatic means, to effect further movementof degrees of freedom, such as a pivoting of the guide members 62 intheir entirety, or linear displacements.

In the embodiments shown in FIGS. 15 a and 15 b, the guide elements 62are provided apart from each other or separated from each other.Correspondingly, the side parts, whose projections lie in the recesses63, are apart, so that—as described with reference to FIGS. 13 a-13 hexplained—now the base part can be removed from the side parts.

Thus, the gripping means 52 allows, in this embodiment a relativemovement between the guide elements 63 and supporting elements 62 whichserve to hold or guide the side portions 14 a, 14 b of the blow mouldingdevice 14. The two guide elements 62 are each movable along a lineardirection so as to guide the side parts of the blow moulding device awayfrom each other or to guide them towards each other.

It is preferable that—as mentioned above—for the drives to perform theseapart and together movements of the side parts to be pneumatic drives.As magazines for storing the blow moulding devices standard magazinescan be used.

The applicant reserves the right to claim all the features disclosed inthe application documents as essential to the invention in so far asthey are individually or in combination novel over the prior art.

1. An apparatus for the shaping of plastics material pre-forms intoplastics material containers with a conveying device which conveys theplastics material pre-forms along a pre-set conveying path, wherein theconveying device has a movable station carrier which is arranged atleast indirectly on a stationary base carrier and on which a pluralityof shaping stations are arranged, wherein these shaping stations have ineach case blow moulding devices which form cavities in each case insidewhich the plastics material preforms are capable of being shaped to formthe plastics material containers and these blow moulding devices arearranged in each case on blow mould carriers, wherein the apparatus hasa changing device which is suitable for and intended for removing atleast the blow moulding devices from the blow mould carriers thereofand/or arranging blow moulding devices on the blow mould carriers,wherein this changing device has a gripping device for gripping the blowmoulding device, wherein this gripping device is movable in at least twodifferent directions and is pivotable about at least three differentpivot axes.
 2. The apparatus according to claim 1, wherein the grippingdevice is arranged on an arm pivotable about at least one pre-set pivotaxis.
 3. The apparatus according to claim 2, wherein the pivotable armis arranged on a further arm pivotable about at least one pre-set pivotaxis.
 4. The apparatus according to claim 2, wherein the gripping deviceis arranged so as to be pivotable on the arm.
 5. The apparatus accordingto claim 1, wherein the gripping device has a gripper for gripping atleast one projection arranged on the blow moulding device.
 6. Theapparatus according to claim 4, wherein one arm is pivotable about atleast two pivot axes with respect to another arm.
 7. The apparatusaccording to claim 1, wherein the gripping device is capable of beingconnected to the blow moulding device in a positively and/or force-fitlocking manner.
 8. The apparatus according to claim 1, wherein thechanging device has a control device which performs a removal of theblow moulding device from the blow mould carriers and/or an arranging ofthe blow moulding device on the blow mould carriers in a mannercontrolled with respect to both force and distance travelled.
 9. Theapparatus according to claim 1, wherein the changing device is suitablefor optionally changing a complete blow moulding device or only parts ofthe blow moulding device.
 10. The apparatus according to claim 9,wherein the gripping device enables the establishing and/or releasing ofa connection present between component parts of the blow mouldingdevice.
 11. The apparatus according to claim 9, wherein the grippingdevice permits a relative movement of a first side part of a blowmoulding device with respect to a second part of the blow mouldingdevice.
 12. A method of operating a shaping device for the shaping ofplastics material pre-forms into plastics material containers, whereinthe plastics material pre-forms are conveyed in a working operation ofthe apparatus along a pre-set conveying path by a plurality of shapingstations and are expanded to form the plastics material containers bybeing acted upon with a flowable medium, wherein in order to expand theplastics material pre-forms are expanded to form the plastics materialcontainers, wherein at least one of the blow moulding devices is removedin a changing operation from the apparatus and/or one of the blowmoulding devices is arranged on a blow mould carrier of the apparatus,wherein in order to change the blow moulding devices use is made of achanging device which has a gripping device for gripping the blowmoulding device, wherein this gripping device is movable in at least twodifferent directions and is pivotable about at least three pivot axes.13. The method according to claim 12, wherein during a changingprocedure of at least one blow moulding device component parts of thisblow moulding device are separated from one another.